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<div class="header">
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<a href="#pub-methods">Public Member Functions</a> &#124;
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<div class="title">BinoCamera Class Reference</div>  </div>
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<p><a class="el" href="classBinoCamera.html" title="BinoCamera 类头文件 ">BinoCamera</a> 类头文件  
 <a href="classBinoCamera.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="BinoCamera_8h_source.html">BinoCamera.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a6fd6ce57220e1d4bd1dcfa2a72d7014c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBinoCamera.html#a6fd6ce57220e1d4bd1dcfa2a72d7014c">BinoCamera</a> (<a class="el" href="structBinoCameraParameterList.html">BinoCameraParameterList</a> paraList)</td></tr>
<tr class="memdesc:a6fd6ce57220e1d4bd1dcfa2a72d7014c"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classBinoCamera.html" title="BinoCamera 类头文件 ">BinoCamera</a> 构造函数  <a href="#a6fd6ce57220e1d4bd1dcfa2a72d7014c">More...</a><br /></td></tr>
<tr class="separator:a6fd6ce57220e1d4bd1dcfa2a72d7014c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0fae8840cca8c98e2a030c8243c0d42a"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0fae8840cca8c98e2a030c8243c0d42a"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBinoCamera.html#a0fae8840cca8c98e2a030c8243c0d42a">Grab</a> ()</td></tr>
<tr class="memdesc:a0fae8840cca8c98e2a030c8243c0d42a"><td class="mdescLeft">&#160;</td><td class="mdescRight">抓取一次相机数据，需要在主循环中调用 <br /></td></tr>
<tr class="separator:a0fae8840cca8c98e2a030c8243c0d42a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7e675afbd9b11a855b8816abe413f51b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBinoCamera.html#a7e675afbd9b11a855b8816abe413f51b">getOrgImage</a> (cv::Mat &amp;L, cv::Mat &amp;R)</td></tr>
<tr class="memdesc:a7e675afbd9b11a855b8816abe413f51b"><td class="mdescLeft">&#160;</td><td class="mdescRight">得到双目原始图像  <a href="#a7e675afbd9b11a855b8816abe413f51b">More...</a><br /></td></tr>
<tr class="separator:a7e675afbd9b11a855b8816abe413f51b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0ca8fdc7baebb847cec029094a1308d8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBinoCamera.html#a0ca8fdc7baebb847cec029094a1308d8">getRectImage</a> (cv::Mat &amp;L, cv::Mat &amp;R)</td></tr>
<tr class="memdesc:a0ca8fdc7baebb847cec029094a1308d8"><td class="mdescLeft">&#160;</td><td class="mdescRight">得到双目畸变矫正后图像  <a href="#a0ca8fdc7baebb847cec029094a1308d8">More...</a><br /></td></tr>
<tr class="separator:a0ca8fdc7baebb847cec029094a1308d8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac9e29c484ef2a61ce42e8c3dfa41b714"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBinoCamera.html#ac9e29c484ef2a61ce42e8c3dfa41b714">getDisparity</a> (const cv::Mat &amp;rectLeft, const cv::Mat &amp;rectRight, cv::Mat &amp;disparateU16Mat)</td></tr>
<tr class="memdesc:ac9e29c484ef2a61ce42e8c3dfa41b714"><td class="mdescLeft">&#160;</td><td class="mdescRight">得到得到视差图  <a href="#ac9e29c484ef2a61ce42e8c3dfa41b714">More...</a><br /></td></tr>
<tr class="separator:ac9e29c484ef2a61ce42e8c3dfa41b714"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7dc100e891a67b59295e79b93241e16f"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBinoCamera.html#a7dc100e891a67b59295e79b93241e16f">getCameraParameter</a> (cv::Mat &amp;para)</td></tr>
<tr class="memdesc:a7dc100e891a67b59295e79b93241e16f"><td class="mdescLeft">&#160;</td><td class="mdescRight">获取相机参数  <a href="#a7dc100e891a67b59295e79b93241e16f">More...</a><br /></td></tr>
<tr class="separator:a7dc100e891a67b59295e79b93241e16f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6bf7b4beec317a6e7bc8a66f3f255fd7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBinoCamera.html#a6bf7b4beec317a6e7bc8a66f3f255fd7">setImuCorrection</a> (float deadmin, float deadmax, float axerr, float ayerr, float azerr)</td></tr>
<tr class="memdesc:a6bf7b4beec317a6e7bc8a66f3f255fd7"><td class="mdescLeft">&#160;</td><td class="mdescRight">imu原始数据校正  <a href="#a6bf7b4beec317a6e7bc8a66f3f255fd7">More...</a><br /></td></tr>
<tr class="separator:a6bf7b4beec317a6e7bc8a66f3f255fd7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa8bfc29050c583efb840f391c2e94263"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBinoCamera.html#aa8bfc29050c583efb840f391c2e94263">getImuRawData</a> (std::vector&lt; <a class="el" href="structImuData.html">ImuData</a> &gt; &amp;imuDatas, uint32_t &amp;timestamp)</td></tr>
<tr class="memdesc:aa8bfc29050c583efb840f391c2e94263"><td class="mdescLeft">&#160;</td><td class="mdescRight">得到imu原始数据  <a href="#aa8bfc29050c583efb840f391c2e94263">More...</a><br /></td></tr>
<tr class="separator:aa8bfc29050c583efb840f391c2e94263"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5662fa1d861687af9577508be18ae29d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBinoCamera.html#a5662fa1d861687af9577508be18ae29d">ImuRect</a> (<a class="el" href="structImuData.html">ImuData</a> imu, float timestamp, float *q)</td></tr>
<tr class="memdesc:a5662fa1d861687af9577508be18ae29d"><td class="mdescLeft">&#160;</td><td class="mdescRight">imu解算程序  <a href="#a5662fa1d861687af9577508be18ae29d">More...</a><br /></td></tr>
<tr class="separator:a5662fa1d861687af9577508be18ae29d"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p><a class="el" href="classBinoCamera.html" title="BinoCamera 类头文件 ">BinoCamera</a> 类头文件 </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="a6fd6ce57220e1d4bd1dcfa2a72d7014c"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">BinoCamera::BinoCamera </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structBinoCameraParameterList.html">BinoCameraParameterList</a>&#160;</td>
          <td class="paramname"><em>paraList</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p><a class="el" href="classBinoCamera.html" title="BinoCamera 类头文件 ">BinoCamera</a> 构造函数 </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">paraList</td><td>传入的相机启动参数 </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a class="anchor" id="a7dc100e891a67b59295e79b93241e16f"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">bool BinoCamera::getCameraParameter </td>
          <td>(</td>
          <td class="paramtype">cv::Mat &amp;&#160;</td>
          <td class="paramname"><em>para</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>获取相机参数 </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">para</td><td>返回Mat数据的类型为CV_64FC1，row = 1, col = 7，数据内容为： fx,fy,cx,cy,image_wideth,image_height,bf </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="ac9e29c484ef2a61ce42e8c3dfa41b714"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void BinoCamera::getDisparity </td>
          <td>(</td>
          <td class="paramtype">const cv::Mat &amp;&#160;</td>
          <td class="paramname"><em>rectLeft</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const cv::Mat &amp;&#160;</td>
          <td class="paramname"><em>rectRight</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">cv::Mat &amp;&#160;</td>
          <td class="paramname"><em>disparateU16Mat</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>得到得到视差图 </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">rectLeft</td><td>输入左相机矫正后图像 </td></tr>
    <tr><td class="paramname">rectRight</td><td>输入右相机矫正后图像 </td></tr>
    <tr><td class="paramname">disparateU16Mat</td><td>返回uint16类型的视差图，想得到真实视差值需要转换为float型数据，转换例子： matU16.convertTo( matF32, CV_32F, 1.0/16); </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="aa8bfc29050c583efb840f391c2e94263"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void BinoCamera::getImuRawData </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; <a class="el" href="structImuData.html">ImuData</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>imuDatas</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint32_t &amp;&#160;</td>
          <td class="paramname"><em>timestamp</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>得到imu原始数据 </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">imudatas</td><td>imu的原始数据 </td></tr>
    <tr><td class="paramname">timestamp</td><td>图像帧曝光时刻的时间 </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a7e675afbd9b11a855b8816abe413f51b"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void BinoCamera::getOrgImage </td>
          <td>(</td>
          <td class="paramtype">cv::Mat &amp;&#160;</td>
          <td class="paramname"><em>L</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">cv::Mat &amp;&#160;</td>
          <td class="paramname"><em>R</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>得到双目原始图像 </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">L</td><td>返回左相机图像 </td></tr>
    <tr><td class="paramname">R</td><td>返回右相机图像 </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a0ca8fdc7baebb847cec029094a1308d8"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void BinoCamera::getRectImage </td>
          <td>(</td>
          <td class="paramtype">cv::Mat &amp;&#160;</td>
          <td class="paramname"><em>L</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">cv::Mat &amp;&#160;</td>
          <td class="paramname"><em>R</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>得到双目畸变矫正后图像 </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">L</td><td>返回左相机矫正后图像 </td></tr>
    <tr><td class="paramname">R</td><td>返回右相机矫正后图像 </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a5662fa1d861687af9577508be18ae29d"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void BinoCamera::ImuRect </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structImuData.html">ImuData</a>&#160;</td>
          <td class="paramname"><em>imu</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>timestamp</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float *&#160;</td>
          <td class="paramname"><em>q</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>imu解算程序 </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">imu</td><td>imu原始数据 </td></tr>
    <tr><td class="paramname">timestamp</td><td>两次imu数据采集之间的时间戳 </td></tr>
    <tr><td class="paramname">q</td><td>四元数 </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a6bf7b4beec317a6e7bc8a66f3f255fd7"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void BinoCamera::setImuCorrection </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>deadmin</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>deadmax</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>axerr</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>ayerr</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>azerr</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>imu原始数据校正 </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">deadmin</td><td>死区最小值 </td></tr>
    <tr><td class="paramname">deadmax</td><td>死区最大值 </td></tr>
    <tr><td class="paramname">axerr</td><td>加速度计x轴零偏校正 </td></tr>
    <tr><td class="paramname">ayerr</td><td>加速度计y轴零偏校正 </td></tr>
    <tr><td class="paramname">azerr</td><td>加速度计z轴零偏校正 </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<hr/>The documentation for this class was generated from the following file:<ul>
<li><a class="el" href="BinoCamera_8h_source.html">BinoCamera.h</a></li>
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